update

iflytop_canbus_protocol.hpp

@@ -14,6 +14,14 @@ extern "C" {
  *          ,   from    to    frameNum/frameId
  */
 
+// 数值越大优先级越低
+typedef enum {
+  kpriority_emergency_report = 7,
+  kpriority_cmd              = 8,
+  kpriority_receipt          = 9,
+  kpriority_report           = 10,
+} priority_t;
+
 typedef struct {
   uint8_t frameNumAndFrameId;
   uint8_t to;
@@ -95,9 +103,10 @@ typedef enum {
   kerr_subdevice_offline = 4,
 
   // 驱动器错误
-  kerr_motor_reset_error  = 100,
-  kerr_motor_offline      = 101,
-  kerr_motor_error_status = 102,
+  kerr_motor_reset_error        = 100,
+  kerr_motor_subdevice_offline  = 101,
+  kerr_motor_driver_error       = 102,
+  kerr_motor_undervoltage_error = 103,
 
   kerr_AirBlowerError         = 200,  // 空压机异常
   kerr_HeaterError            = 201,  // 加热片异常
@@ -122,6 +131,7 @@ typedef enum {
   kcmd_read_sysinfo       = 3,   // cmd:no,                 ack:ack_sysinfo_t
   kcmd_read_taskinfo      = 4,   // cmd:taskoff,            ack:ask_taskinfo_t
   kcmd_heart_ping         = 5,   // cmd:taskoff,            ack:ask_taskinfo_t
+  kcmd_clear_reset_flag   = 6,   // cmd:taskoff,            ack:ask_taskinfo_t
   kreport_heatpacket_pong = 50,  // cmd:no                  ack:no                      report:heatpacket_t
   kreport_exception_error = 51,  // report:error_code,subid
 
@@ -308,7 +318,8 @@ typedef struct {
 
 typedef struct {
   uint16_t heartIndex;
-  uint16_t boardType;
+  uint8_t  boardType;
+  uint8_t  flag;  // 0:reset_flag
 } report_heatpacket_data_t;
 
 typedef struct {